Localizing victims through sound and probabilistic grid maps in an urban search and rescue scenario
Abstract
Sound source localization can be used in the Robocup Rescue Robots League as a sensor that is capable to autonomously detect victims that emit sound. Using differential time of flight measurements through energy cross-spectrum evaluation of the sound signals, the angular direction to multiple sound sources can be determined with a pair of microphones for SNRs better than -8dB. Assuming that the robot pose is known, this information is sufficient to create probabilistic occupancy grid map of the sound sources in the environment and thus localize the victims in a global map. This has been demonstrated using example measurements in an urban search and rescue scenario.
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Index Terms
- Localizing victims through sound and probabilistic grid maps in an urban search and rescue scenario
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Published In
January 2006
723 pages
ISBN:3540354379
Publisher
Springer-Verlag
Berlin, Heidelberg
Publication History
Published: 01 January 2006
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